mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
Added RGBD3 and RGBD4 callbacks
This commit is contained in:
matlabbe
@@ -176,6 +176,8 @@ SET(rtabmap_ros_lib_src
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src/impl/CommonDataSubscriberStereo.cpp
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src/impl/CommonDataSubscriberStereo.cpp
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src/impl/CommonDataSubscriberRGBD.cpp
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src/impl/CommonDataSubscriberRGBD.cpp
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src/impl/CommonDataSubscriberRGBD2.cpp
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src/impl/CommonDataSubscriberRGBD2.cpp
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src/impl/CommonDataSubscriberRGBD3.cpp
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src/impl/CommonDataSubscriberRGBD4.cpp
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)
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)
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# If costmap_2d is found, add the plugin
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# If costmap_2d is found, add the plugin
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@@ -139,6 +139,26 @@ private:
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bool subscribeOdomInfo,
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bool subscribeOdomInfo,
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int queueSize,
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int queueSize,
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bool approxSync);
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bool approxSync);
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void setupRGBD3Callbacks(
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ros::NodeHandle & nh,
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ros::NodeHandle & pnh,
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bool subscribeOdom,
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bool subscribeUserData,
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeOdomInfo,
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int queueSize,
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bool approxSync);
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void setupRGBD4Callbacks(
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ros::NodeHandle & nh,
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ros::NodeHandle & pnh,
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bool subscribeOdom,
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bool subscribeUserData,
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeOdomInfo,
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int queueSize,
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bool approxSync);
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protected:
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protected:
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std::string subscribedTopicsMsg_;
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std::string subscribedTopicsMsg_;
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@@ -281,6 +301,70 @@ private:
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DATA_SYNCS6(rgbd2OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd2OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd2OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd2OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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// 3 RGBD
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DATA_SYNCS3(rgbd3, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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DATA_SYNCS4(rgbd3Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
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DATA_SYNCS4(rgbd3Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS4(rgbd3Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd3Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS5(rgbd3Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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// 3 RGBD + Odom
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DATA_SYNCS4(rgbd3Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
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DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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// 3 RGBD + User Data
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DATA_SYNCS4(rgbd3Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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DATA_SYNCS5(rgbd3DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
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DATA_SYNCS5(rgbd3DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS5(rgbd3DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd3DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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// 3 RGBD + Odom + User Data
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DATA_SYNCS5(rgbd3OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
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DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd3OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd3OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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// 4 RGBD
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DATA_SYNCS4(rgbd4, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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DATA_SYNCS5(rgbd4Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
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DATA_SYNCS5(rgbd4Scan3d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS5(rgbd4Info, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd4Scan2dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS6(rgbd4Scan3dInfo, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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// 4 RGBD + Odom
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DATA_SYNCS5(rgbd4Odom, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
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DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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// 4 RGBD + User Data
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DATA_SYNCS5(rgbd4Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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DATA_SYNCS6(rgbd4DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
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DATA_SYNCS6(rgbd4DataScan3d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS6(rgbd4DataInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4DataScan2dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS7(rgbd4DataScan3dInfo, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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// 4 RGBD + Odom + User Data
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DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
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DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
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DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2);
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DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
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DATA_SYNCS8(rgbd4OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
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DATA_SYNCS8(rgbd4OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
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};
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};
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} /* namespace rtabmap_ros */
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} /* namespace rtabmap_ros */
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@@ -84,6 +84,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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DATA_SYNC7(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
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DATA_SYNC7(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
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void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&); \
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void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&); \
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#define DATA_SYNC8(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
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typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7> PREFIX##SYNC_NAME##SyncPolicy; \
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message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
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#define DATA_SYNCS8(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
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DATA_SYNC8(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
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DATA_SYNC8(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
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void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&, const MSG7##ConstPtr&); \
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// Constructor
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// Constructor
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#define SYNC_INIT(PREFIX) \
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#define SYNC_INIT(PREFIX) \
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@@ -225,5 +234,30 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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SUB5.getTopic().c_str(), \
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SUB5.getTopic().c_str(), \
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SUB6.getTopic().c_str());
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SUB6.getTopic().c_str());
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#define SYNC_DECL8(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7) \
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if(APPROX) \
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{ \
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PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
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PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
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PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \
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} \
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else \
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{ \
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PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
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PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
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PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \
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} \
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subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s,\n %s,\n %s", \
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name_.c_str(), \
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APPROX?"approx":"exact", \
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SUB0.getTopic().c_str(), \
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SUB1.getTopic().c_str(), \
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SUB2.getTopic().c_str(), \
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SUB3.getTopic().c_str(), \
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SUB4.getTopic().c_str(), \
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SUB5.getTopic().c_str(), \
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SUB6.getTopic().c_str(), \
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SUB7.getTopic().c_str());
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#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_ */
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#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_ */
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@@ -142,7 +142,71 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
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SYNC_INIT(rgbd2OdomDataScan3d),
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SYNC_INIT(rgbd2OdomDataScan3d),
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SYNC_INIT(rgbd2OdomDataInfo),
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SYNC_INIT(rgbd2OdomDataInfo),
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SYNC_INIT(rgbd2OdomDataScan2dInfo),
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SYNC_INIT(rgbd2OdomDataScan2dInfo),
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SYNC_INIT(rgbd2OdomDataScan3dInfo)
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SYNC_INIT(rgbd2OdomDataScan3dInfo),
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// 3 RGBD
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SYNC_INIT(rgbd3),
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SYNC_INIT(rgbd3Scan2d),
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SYNC_INIT(rgbd3Scan3d),
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SYNC_INIT(rgbd3Info),
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SYNC_INIT(rgbd3Scan2dInfo),
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SYNC_INIT(rgbd3Scan3dInfo),
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// 3 RGBD + Odom
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SYNC_INIT(rgbd3Odom),
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SYNC_INIT(rgbd3OdomScan2d),
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SYNC_INIT(rgbd3OdomScan3d),
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SYNC_INIT(rgbd3OdomInfo),
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SYNC_INIT(rgbd3OdomScan2dInfo),
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SYNC_INIT(rgbd3OdomScan3dInfo),
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// 3 RGBD + User Data
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SYNC_INIT(rgbd3Data),
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SYNC_INIT(rgbd3DataScan2d),
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SYNC_INIT(rgbd3DataScan3d),
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SYNC_INIT(rgbd3DataInfo),
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SYNC_INIT(rgbd3DataScan2dInfo),
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SYNC_INIT(rgbd3DataScan3dInfo),
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// 3 RGBD + Odom + User Data
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SYNC_INIT(rgbd3OdomData),
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SYNC_INIT(rgbd3OdomDataScan2d),
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|
SYNC_INIT(rgbd3OdomDataScan3d),
|
||||||
|
SYNC_INIT(rgbd3OdomDataInfo),
|
||||||
|
SYNC_INIT(rgbd3OdomDataScan2dInfo),
|
||||||
|
SYNC_INIT(rgbd3OdomDataScan3dInfo),
|
||||||
|
|
||||||
|
// 4 RGBD
|
||||||
|
SYNC_INIT(rgbd4),
|
||||||
|
SYNC_INIT(rgbd4Scan2d),
|
||||||
|
SYNC_INIT(rgbd4Scan3d),
|
||||||
|
SYNC_INIT(rgbd4Info),
|
||||||
|
SYNC_INIT(rgbd4Scan2dInfo),
|
||||||
|
SYNC_INIT(rgbd4Scan3dInfo),
|
||||||
|
|
||||||
|
// 4 RGBD + Odom
|
||||||
|
SYNC_INIT(rgbd4Odom),
|
||||||
|
SYNC_INIT(rgbd4OdomScan2d),
|
||||||
|
SYNC_INIT(rgbd4OdomScan3d),
|
||||||
|
SYNC_INIT(rgbd4OdomInfo),
|
||||||
|
SYNC_INIT(rgbd4OdomScan2dInfo),
|
||||||
|
SYNC_INIT(rgbd4OdomScan3dInfo),
|
||||||
|
|
||||||
|
// 4 RGBD + User Data
|
||||||
|
SYNC_INIT(rgbd4Data),
|
||||||
|
SYNC_INIT(rgbd4DataScan2d),
|
||||||
|
SYNC_INIT(rgbd4DataScan3d),
|
||||||
|
SYNC_INIT(rgbd4DataInfo),
|
||||||
|
SYNC_INIT(rgbd4DataScan2dInfo),
|
||||||
|
SYNC_INIT(rgbd4DataScan3dInfo),
|
||||||
|
|
||||||
|
// 4 RGBD + Odom + User Data
|
||||||
|
SYNC_INIT(rgbd4OdomData),
|
||||||
|
SYNC_INIT(rgbd4OdomDataScan2d),
|
||||||
|
SYNC_INIT(rgbd4OdomDataScan3d),
|
||||||
|
SYNC_INIT(rgbd4OdomDataInfo),
|
||||||
|
SYNC_INIT(rgbd4OdomDataScan2dInfo),
|
||||||
|
SYNC_INIT(rgbd4OdomDataScan3dInfo)
|
||||||
|
|
||||||
{
|
{
|
||||||
}
|
}
|
||||||
@@ -256,7 +320,33 @@ void CommonDataSubscriber::setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle
|
|||||||
}
|
}
|
||||||
else if(subscribedToRGBD_)
|
else if(subscribedToRGBD_)
|
||||||
{
|
{
|
||||||
if(rgbdCameras == 2)
|
if(rgbdCameras == 4)
|
||||||
|
{
|
||||||
|
setupRGBD4Callbacks(
|
||||||
|
nh,
|
||||||
|
pnh,
|
||||||
|
subscribeOdom,
|
||||||
|
subscribeUserData,
|
||||||
|
subscribeScan2d,
|
||||||
|
subscribeScan3d,
|
||||||
|
subscribeOdomInfo,
|
||||||
|
queueSize_,
|
||||||
|
approxSync_);
|
||||||
|
}
|
||||||
|
else if(rgbdCameras == 3)
|
||||||
|
{
|
||||||
|
setupRGBD3Callbacks(
|
||||||
|
nh,
|
||||||
|
pnh,
|
||||||
|
subscribeOdom,
|
||||||
|
subscribeUserData,
|
||||||
|
subscribeScan2d,
|
||||||
|
subscribeScan3d,
|
||||||
|
subscribeOdomInfo,
|
||||||
|
queueSize_,
|
||||||
|
approxSync_);
|
||||||
|
}
|
||||||
|
else if(rgbdCameras == 2)
|
||||||
{
|
{
|
||||||
setupRGBD2Callbacks(
|
setupRGBD2Callbacks(
|
||||||
nh,
|
nh,
|
||||||
@@ -402,6 +492,70 @@ CommonDataSubscriber::~CommonDataSubscriber()
|
|||||||
SYNC_DEL(rgbd2OdomDataScan2dInfo);
|
SYNC_DEL(rgbd2OdomDataScan2dInfo);
|
||||||
SYNC_DEL(rgbd2OdomDataScan3dInfo);
|
SYNC_DEL(rgbd2OdomDataScan3dInfo);
|
||||||
|
|
||||||
|
// 3 RGBD
|
||||||
|
SYNC_DEL(rgbd3);
|
||||||
|
SYNC_DEL(rgbd3Scan2d);
|
||||||
|
SYNC_DEL(rgbd3Scan3d);
|
||||||
|
SYNC_DEL(rgbd3Info);
|
||||||
|
SYNC_DEL(rgbd3Scan2dInfo);
|
||||||
|
SYNC_DEL(rgbd3Scan3dInfo);
|
||||||
|
|
||||||
|
// 3 RGBD + Odom
|
||||||
|
SYNC_DEL(rgbd3Odom);
|
||||||
|
SYNC_DEL(rgbd3OdomScan2d);
|
||||||
|
SYNC_DEL(rgbd3OdomScan3d);
|
||||||
|
SYNC_DEL(rgbd3OdomInfo);
|
||||||
|
SYNC_DEL(rgbd3OdomScan2dInfo);
|
||||||
|
SYNC_DEL(rgbd3OdomScan3dInfo);
|
||||||
|
|
||||||
|
// 3 RGBD + User Data
|
||||||
|
SYNC_DEL(rgbd3Data);
|
||||||
|
SYNC_DEL(rgbd3DataScan2d);
|
||||||
|
SYNC_DEL(rgbd3DataScan3d);
|
||||||
|
SYNC_DEL(rgbd3DataInfo);
|
||||||
|
SYNC_DEL(rgbd3DataScan2dInfo);
|
||||||
|
SYNC_DEL(rgbd3DataScan3dInfo);
|
||||||
|
|
||||||
|
// 3 RGBD + Odom + User Data
|
||||||
|
SYNC_DEL(rgbd3OdomData);
|
||||||
|
SYNC_DEL(rgbd3OdomDataScan2d);
|
||||||
|
SYNC_DEL(rgbd3OdomDataScan3d);
|
||||||
|
SYNC_DEL(rgbd3OdomDataInfo);
|
||||||
|
SYNC_DEL(rgbd3OdomDataScan2dInfo);
|
||||||
|
SYNC_DEL(rgbd3OdomDataScan3dInfo);
|
||||||
|
|
||||||
|
// 4 RGBD
|
||||||
|
SYNC_DEL(rgbd4);
|
||||||
|
SYNC_DEL(rgbd4Scan2d);
|
||||||
|
SYNC_DEL(rgbd4Scan3d);
|
||||||
|
SYNC_DEL(rgbd4Info);
|
||||||
|
SYNC_DEL(rgbd4Scan2dInfo);
|
||||||
|
SYNC_DEL(rgbd4Scan3dInfo);
|
||||||
|
|
||||||
|
// 4 RGBD + Odom
|
||||||
|
SYNC_DEL(rgbd4Odom);
|
||||||
|
SYNC_DEL(rgbd4OdomScan2d);
|
||||||
|
SYNC_DEL(rgbd4OdomScan3d);
|
||||||
|
SYNC_DEL(rgbd4OdomInfo);
|
||||||
|
SYNC_DEL(rgbd4OdomScan2dInfo);
|
||||||
|
SYNC_DEL(rgbd4OdomScan3dInfo);
|
||||||
|
|
||||||
|
// 4 RGBD + User Data
|
||||||
|
SYNC_DEL(rgbd4Data);
|
||||||
|
SYNC_DEL(rgbd4DataScan2d);
|
||||||
|
SYNC_DEL(rgbd4DataScan3d);
|
||||||
|
SYNC_DEL(rgbd4DataInfo);
|
||||||
|
SYNC_DEL(rgbd4DataScan2dInfo);
|
||||||
|
SYNC_DEL(rgbd4DataScan3dInfo);
|
||||||
|
|
||||||
|
// 4 RGBD + Odom + User Data
|
||||||
|
SYNC_DEL(rgbd4OdomData);
|
||||||
|
SYNC_DEL(rgbd4OdomDataScan2d);
|
||||||
|
SYNC_DEL(rgbd4OdomDataScan3d);
|
||||||
|
SYNC_DEL(rgbd4OdomDataInfo);
|
||||||
|
SYNC_DEL(rgbd4OdomDataScan2dInfo);
|
||||||
|
SYNC_DEL(rgbd4OdomDataScan3dInfo);
|
||||||
|
|
||||||
for(unsigned int i=0; i<rgbdSubs_.size(); ++i)
|
for(unsigned int i=0; i<rgbdSubs_.size(); ++i)
|
||||||
{
|
{
|
||||||
delete rgbdSubs_[i];
|
delete rgbdSubs_[i];
|
||||||
|
|||||||
@@ -0,0 +1,588 @@
|
|||||||
|
/*
|
||||||
|
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||||
|
All rights reserved.
|
||||||
|
|
||||||
|
Redistribution and use in source and binary forms, with or without
|
||||||
|
modification, are permitted provided that the following conditions are met:
|
||||||
|
* Redistributions of source code must retain the above copyright
|
||||||
|
notice, this list of conditions and the following disclaimer.
|
||||||
|
* Redistributions in binary form must reproduce the above copyright
|
||||||
|
notice, this list of conditions and the following disclaimer in the
|
||||||
|
documentation and/or other materials provided with the distribution.
|
||||||
|
* Neither the name of the Universite de Sherbrooke nor the
|
||||||
|
names of its contributors may be used to endorse or promote products
|
||||||
|
derived from this software without specific prior written permission.
|
||||||
|
|
||||||
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||||
|
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||||
|
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||||
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||||
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||||
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||||
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||||
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||||
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <rtabmap_ros/CommonDataSubscriber.h>
|
||||||
|
#include <rtabmap/utilite/UConversion.h>
|
||||||
|
#include <rtabmap_ros/MsgConversion.h>
|
||||||
|
#include <cv_bridge/cv_bridge.h>
|
||||||
|
|
||||||
|
namespace rtabmap_ros {
|
||||||
|
|
||||||
|
#define IMAGE_CONVERSION() \
|
||||||
|
callbackCalled(); \
|
||||||
|
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(3); \
|
||||||
|
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(3); \
|
||||||
|
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||||
|
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||||
|
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||||
|
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
|
||||||
|
cameraInfoMsgs.push_back(image1Msg->cameraInfo); \
|
||||||
|
cameraInfoMsgs.push_back(image2Msg->cameraInfo); \
|
||||||
|
cameraInfoMsgs.push_back(image3Msg->cameraInfo);
|
||||||
|
|
||||||
|
// 3 RGBD
|
||||||
|
void CommonDataSubscriber::rgbd3Callback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3Scan2dCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3Scan3dCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3InfoCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3Scan2dInfoCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3Scan3dInfoCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2 RGBD + Odom
|
||||||
|
void CommonDataSubscriber::rgbd3OdomCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomScan2dCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomScan3dCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomScan2dInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomScan3dInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2 RGBD + User Data
|
||||||
|
void CommonDataSubscriber::rgbd3DataCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3DataScan2dCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3DataScan3dCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3DataInfoCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3DataScan2dInfoCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3DataScan3dInfoCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2 RGBD + Odom + User Data
|
||||||
|
void CommonDataSubscriber::rgbd3OdomDataCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomDataScan2dCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomDataScan3dCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomDataInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomDataScan2dInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd3OdomDataScan3dInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
|
||||||
|
void CommonDataSubscriber::setupRGBD3Callbacks(
|
||||||
|
ros::NodeHandle & nh,
|
||||||
|
ros::NodeHandle & pnh,
|
||||||
|
bool subscribeOdom,
|
||||||
|
bool subscribeUserData,
|
||||||
|
bool subscribeScan2d,
|
||||||
|
bool subscribeScan3d,
|
||||||
|
bool subscribeOdomInfo,
|
||||||
|
int queueSize,
|
||||||
|
bool approxSync)
|
||||||
|
{
|
||||||
|
ROS_INFO("Setup rgbd3 callback");
|
||||||
|
|
||||||
|
rgbdSubs_.resize(3);
|
||||||
|
for(int i=0; i<3; ++i)
|
||||||
|
{
|
||||||
|
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
|
||||||
|
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
|
||||||
|
}
|
||||||
|
if(subscribeOdom && subscribeUserData)
|
||||||
|
{
|
||||||
|
odomSub_.subscribe(nh, "odom", 1);
|
||||||
|
userDataSub_.subscribe(nh, "user_data", 1);
|
||||||
|
if(subscribeScan2d)
|
||||||
|
{
|
||||||
|
subscribedToScan2d_ = true;
|
||||||
|
scanSub_.subscribe(nh, "scan", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL7(rgbd3OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL6(rgbd3OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeScan3d)
|
||||||
|
{
|
||||||
|
subscribedToScan3d_ = true;
|
||||||
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL7(rgbd3OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL6(rgbd3OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd3OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd3OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdom)
|
||||||
|
{
|
||||||
|
odomSub_.subscribe(nh, "odom", 1);
|
||||||
|
if(subscribeScan2d)
|
||||||
|
{
|
||||||
|
subscribedToScan2d_ = true;
|
||||||
|
scanSub_.subscribe(nh, "scan", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd3OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd3OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeScan3d)
|
||||||
|
{
|
||||||
|
subscribedToScan3d_ = true;
|
||||||
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd3OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd3OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL5(rgbd3OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL4(rgbd3Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeUserData)
|
||||||
|
{
|
||||||
|
userDataSub_.subscribe(nh, "user_data", 1);
|
||||||
|
if(subscribeScan2d)
|
||||||
|
{
|
||||||
|
subscribedToScan2d_ = true;
|
||||||
|
scanSub_.subscribe(nh, "scan", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd3DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd3DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeScan3d)
|
||||||
|
{
|
||||||
|
subscribedToScan3d_ = true;
|
||||||
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd3DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd3DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL5(rgbd3DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL4(rgbd3Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if(subscribeScan2d)
|
||||||
|
{
|
||||||
|
subscribedToScan2d_ = true;
|
||||||
|
scanSub_.subscribe(nh, "scan", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL5(rgbd3Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL4(rgbd3Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scanSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeScan3d)
|
||||||
|
{
|
||||||
|
subscribedToScan3d_ = true;
|
||||||
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL5(rgbd3Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL4(rgbd3Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), scan3dSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL4(rgbd3Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL3(rgbd3, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} /* namespace rtabmap_ros */
|
||||||
@@ -0,0 +1,614 @@
|
|||||||
|
/*
|
||||||
|
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||||
|
All rights reserved.
|
||||||
|
|
||||||
|
Redistribution and use in source and binary forms, with or without
|
||||||
|
modification, are permitted provided that the following conditions are met:
|
||||||
|
* Redistributions of source code must retain the above copyright
|
||||||
|
notice, this list of conditions and the following disclaimer.
|
||||||
|
* Redistributions in binary form must reproduce the above copyright
|
||||||
|
notice, this list of conditions and the following disclaimer in the
|
||||||
|
documentation and/or other materials provided with the distribution.
|
||||||
|
* Neither the name of the Universite de Sherbrooke nor the
|
||||||
|
names of its contributors may be used to endorse or promote products
|
||||||
|
derived from this software without specific prior written permission.
|
||||||
|
|
||||||
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||||
|
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||||
|
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||||
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||||
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||||
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||||
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||||
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||||
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||||
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <rtabmap_ros/CommonDataSubscriber.h>
|
||||||
|
#include <rtabmap/utilite/UConversion.h>
|
||||||
|
#include <rtabmap_ros/MsgConversion.h>
|
||||||
|
#include <cv_bridge/cv_bridge.h>
|
||||||
|
|
||||||
|
namespace rtabmap_ros {
|
||||||
|
|
||||||
|
#define IMAGE_CONVERSION() \
|
||||||
|
callbackCalled(); \
|
||||||
|
std::vector<cv_bridge::CvImageConstPtr> imageMsgs(4); \
|
||||||
|
std::vector<cv_bridge::CvImageConstPtr> depthMsgs(4); \
|
||||||
|
rtabmap_ros::toCvShare(image1Msg, imageMsgs[0], depthMsgs[0]); \
|
||||||
|
rtabmap_ros::toCvShare(image2Msg, imageMsgs[1], depthMsgs[1]); \
|
||||||
|
rtabmap_ros::toCvShare(image3Msg, imageMsgs[2], depthMsgs[2]); \
|
||||||
|
rtabmap_ros::toCvShare(image4Msg, imageMsgs[3], depthMsgs[3]); \
|
||||||
|
std::vector<sensor_msgs::CameraInfo> cameraInfoMsgs; \
|
||||||
|
cameraInfoMsgs.push_back(image1Msg->cameraInfo); \
|
||||||
|
cameraInfoMsgs.push_back(image2Msg->cameraInfo); \
|
||||||
|
cameraInfoMsgs.push_back(image3Msg->cameraInfo); \
|
||||||
|
cameraInfoMsgs.push_back(image4Msg->cameraInfo);
|
||||||
|
|
||||||
|
// 4 RGBD
|
||||||
|
void CommonDataSubscriber::rgbd4Callback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4Scan2dCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4Scan3dCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4InfoCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4Scan2dInfoCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4Scan3dInfoCallback(
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2 RGBD + Odom
|
||||||
|
void CommonDataSubscriber::rgbd4OdomCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomScan2dCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomScan3dCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomScan2dInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomScan3dInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
rtabmap_ros::UserDataConstPtr userDataMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2 RGBD + User Data
|
||||||
|
void CommonDataSubscriber::rgbd4DataCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4DataScan2dCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4DataScan3dCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4DataInfoCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4DataScan2dInfoCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4DataScan3dInfoCallback(
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
nav_msgs::OdometryConstPtr odomMsg; // Null
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2 RGBD + Odom + User Data
|
||||||
|
void CommonDataSubscriber::rgbd4OdomDataCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomDataScan2dCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomDataScan3dCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
rtabmap_ros::OdomInfoConstPtr odomInfoMsg; // null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomDataInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomDataScan2dInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
void CommonDataSubscriber::rgbd4OdomDataScan3dInfoCallback(
|
||||||
|
const nav_msgs::OdometryConstPtr& odomMsg,
|
||||||
|
const rtabmap_ros::UserDataConstPtr& userDataMsg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image1Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image2Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image3Msg,
|
||||||
|
const rtabmap_ros::RGBDImageConstPtr& image4Msg,
|
||||||
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||||
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg)
|
||||||
|
{
|
||||||
|
IMAGE_CONVERSION();
|
||||||
|
|
||||||
|
sensor_msgs::LaserScanConstPtr scanMsg; // Null
|
||||||
|
commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
|
||||||
|
}
|
||||||
|
|
||||||
|
void CommonDataSubscriber::setupRGBD4Callbacks(
|
||||||
|
ros::NodeHandle & nh,
|
||||||
|
ros::NodeHandle & pnh,
|
||||||
|
bool subscribeOdom,
|
||||||
|
bool subscribeUserData,
|
||||||
|
bool subscribeScan2d,
|
||||||
|
bool subscribeScan3d,
|
||||||
|
bool subscribeOdomInfo,
|
||||||
|
int queueSize,
|
||||||
|
bool approxSync)
|
||||||
|
{
|
||||||
|
ROS_INFO("Setup rgbd4 callback");
|
||||||
|
|
||||||
|
rgbdSubs_.resize(4);
|
||||||
|
for(int i=0; i<4; ++i)
|
||||||
|
{
|
||||||
|
rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
|
||||||
|
rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
|
||||||
|
}
|
||||||
|
if(subscribeOdom && subscribeUserData)
|
||||||
|
{
|
||||||
|
odomSub_.subscribe(nh, "odom", 1);
|
||||||
|
userDataSub_.subscribe(nh, "user_data", 1);
|
||||||
|
if(subscribeScan2d)
|
||||||
|
{
|
||||||
|
subscribedToScan2d_ = true;
|
||||||
|
scanSub_.subscribe(nh, "scan", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL8(rgbd4OdomDataScan2dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL7(rgbd4OdomDataScan2d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeScan3d)
|
||||||
|
{
|
||||||
|
subscribedToScan3d_ = true;
|
||||||
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL8(rgbd4OdomDataScan3dInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL7(rgbd4OdomDataScan3d, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL7(rgbd4OdomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL6(rgbd4OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdom)
|
||||||
|
{
|
||||||
|
odomSub_.subscribe(nh, "odom", 1);
|
||||||
|
if(subscribeScan2d)
|
||||||
|
{
|
||||||
|
subscribedToScan2d_ = true;
|
||||||
|
scanSub_.subscribe(nh, "scan", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL7(rgbd4OdomScan2dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL6(rgbd4OdomScan2d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeScan3d)
|
||||||
|
{
|
||||||
|
subscribedToScan3d_ = true;
|
||||||
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL7(rgbd4OdomScan3dInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL6(rgbd4OdomScan3d, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd4OdomInfo, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd4Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeUserData)
|
||||||
|
{
|
||||||
|
userDataSub_.subscribe(nh, "user_data", 1);
|
||||||
|
if(subscribeScan2d)
|
||||||
|
{
|
||||||
|
subscribedToScan2d_ = true;
|
||||||
|
scanSub_.subscribe(nh, "scan", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL7(rgbd4DataScan2dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL6(rgbd4DataScan2d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeScan3d)
|
||||||
|
{
|
||||||
|
subscribedToScan3d_ = true;
|
||||||
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL7(rgbd4DataScan3dInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL6(rgbd4DataScan3d, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd4DataInfo, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd4Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if(subscribeScan2d)
|
||||||
|
{
|
||||||
|
subscribedToScan2d_ = true;
|
||||||
|
scanSub_.subscribe(nh, "scan", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd4Scan2dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd4Scan2d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scanSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeScan3d)
|
||||||
|
{
|
||||||
|
subscribedToScan3d_ = true;
|
||||||
|
scan3dSub_.subscribe(nh, "scan_cloud", 1);
|
||||||
|
if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL6(rgbd4Scan3dInfo, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_, odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL5(rgbd4Scan3d, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), scan3dSub_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(subscribeOdomInfo)
|
||||||
|
{
|
||||||
|
subscribedToOdomInfo_ = true;
|
||||||
|
odomInfoSub_.subscribe(nh, "odom_info", 1);
|
||||||
|
SYNC_DECL5(rgbd4Info, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SYNC_DECL4(rgbd4, approxSync, queueSize, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
} /* namespace rtabmap_ros */
|
||||||
Reference in New Issue
Block a user